MACHINE NAVIGATION SYSTEM HAVING INTEGRITY CHECKING
First Claim
1. A navigation system, comprising:
- a navigation unit configured to measure a position of a machine at a first time and at a second time;
at least a first sensor configured to generate at least a first signal indicative of a speed and a heading of the machine during a time period from the first time to the second time; and
a controller in communication with the navigation unit and the at least a first sensor, the controller being configured to;
estimate a position of the machine at the second time based on the measured position of the machine at the first time and the at least a first signal;
make a comparison of the measured position of the machine at the second time with the estimated position of the machine at the second time; and
determine an integrity of the navigation unit based on the comparison.
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Accused Products
Abstract
A navigation system for a machine is disclosed. The navigation system may have a navigation unit configured to measure a position of a machine at a first time and at a second time, and at least a first sensor configured to generate at least a first signal indicative of a speed and a heading of the machine during a time period from the first time to the second time. The navigation system may also have a controller configured to estimate a position of the machine at the second time based on the measured position of the machine at the first time and the at least a first signal, and to make a comparison of the measured position of the machine at the second time with the estimated position of the machine at the second time. The controller may also be configured to determine an integrity of the navigation unit based on the comparison.
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Citations
20 Claims
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1. A navigation system, comprising:
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a navigation unit configured to measure a position of a machine at a first time and at a second time; at least a first sensor configured to generate at least a first signal indicative of a speed and a heading of the machine during a time period from the first time to the second time; and a controller in communication with the navigation unit and the at least a first sensor, the controller being configured to; estimate a position of the machine at the second time based on the measured position of the machine at the first time and the at least a first signal; make a comparison of the measured position of the machine at the second time with the estimated position of the machine at the second time; and determine an integrity of the navigation unit based on the comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A computer readable medium for use by a navigation system, the computer readable medium having executable instructions for performing a method of accuracy checking a measured position, the method comprising:
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measuring a position of a machine at a first time and at a second time; measuring a speed and a heading of the machine during a time period from the first time to the second time; and estimating a position of the machine at the second time based on the measured position of the machine at the first time and the measured speed and heading; making a comparison of the measured position of the machine at the second time with the estimated position of the machine at the second time; and determining an accuracy of the measured position of the machine at the second time based on the comparison. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A machine, comprising:
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a power source; at least one traction device driven by the power source to propel the machine; a GPS unit configured to measure a position of the machine at a first time and at a second time; a speed sensor configured to generate a first signal indicative of a travel speed of the machine during a time period from the first time to the second time; a steering sensor configured to generate a second signal indicative of a heading of the machine during the time period; and a controller in communication with the GPS unit, the speed sensor, and the steering sensor, the controller being configured to; estimate a position of the machine at the second time based on the measured position of the machine at the first time and the first and second signals; make a comparison of the measured position of the machine at the second time with the estimated position of the machine at the second time; determine that the GPS unit has malfunctioned when the measured position of the machine at the second time deviates from the estimated position of the machine at the second time by a threshold amount; and implement evasive maneuvering of the machine when the GPS unit is determined to have malfunctioned for a set period of time.
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Specification